To recognize the user's motion intention, brain-machine interfaces (BMI) usually decode movements from cortical activity to control exoskeletons and neuroprostheses for daily activities. The aim of this paper is to investigate whether self-induced variations of the electroencephalogram (EEG) can be useful as control signals for an upper-limb exoskeleton developed by us. A BMI based on event-rel...

background: single leg drop landing is one of the common sport activities that have greater likelihood of leading to traumatic oflower extremity. however, there is limited understanding of biomechanics of this maneuver. hence, this study aimed to compare the activities of lower limb muscles during pre- and post phases of single leg drop landing. methods: this semi-experimental research of 13 ph...

Utilizing exoskeleton devices to help elderly or empower workers is a growing field of research in robotics. The structure an can vary depending on user’s physical dimensions, joints muscles targeted for assistance, and maximum achievable actuator torque. In this research, Human-Model-In-the-Loop (HMIL) constrained optimization technique proposed design the RoboWalk lower-limb exoskeleton. unde...

Integrating an exoskeleton as the external apparatus for a brain–machine interface (BMI) has the advantage of providing multiple contact points to determine body segment postures and allowing control to and feedback from each joint. When using macaques as subjects to study the neural control of movement, an upper limb exoskeleton design with unlikely singularity is required to guarantee safe an...

The lower-limb exoskeleton for human performance augmentation (LEHPA) in sensitivity amplification control (SAC) is vulnerable to model parameter uncertainties and unmodeled dynamics due its large external disturbances. This paper proposes adaptation based on deep reinforcement learning (SADRL) reduce the dependence accuracy tackle ever-changing human-exoskeleton interaction (HEI) by interpreti...

Aiming at the problem that trajectory tracking error of flexible lower limb exoskeleton robot is too large under condition external disturbance and parameters uncertainty, a composite position control method based on second-order sliding mode was proposed. Firstly, modeled by Lagrange function. Secondly, considering system affected not only matched but also unmatched disturbance, two finite tim...